Yamaha RCX240, User Manual

Page: 415 / 620

5-12
Chapter 5 TWO-ROBOT SETTING
4
1
2
3
5
6
7
8
9
10
Chapter 5 TWO-ROBOT SETTING
5-13
2.2.3.1 Point data input by teaching
Point data input by direct teaching consists of registering the currently selected group's coordinate
values as point data.
Before executing this function, be sure to verify the currently selected group. The selected group
can be changed by the procedure described below.
n
NOTE
• For details concerning Point data input by direct teaching, also see "11.2.2 Point
data input by teaching" in Chapter 4.
• Point data teaching cannot be performed when return-to-origin is incomplete.
Perform point teaching after performing return-to-origin or absolute reset.
This explanation assumes that no auxiliary axes are set. If auxiliary axes exist, the selected group
can be changed in the same manner as that given below. For details regarding the teaching
procedure after the selected group has been changed, see "11.2.2 Point data input by teaching" in
Chapter 4.
When no auxiliary axes are set:
1
Select the "MANUAL>POINT" mode.
2
Check the selected robot group.
An "[MG]" display indicates the main group, and "[SG]" indicates the sub group.
Press ( + ) to change the robot group. The selected group display is
toggled each time the key is pressed.
ＭＡＮＵＡＬ ＞ＰＯＩＮＴ ５０ ／ ５０％［ＭＧ］［Ｓ０Ｈ０Ｘ］
ｘ ｙ ｚ ｒ
Ｐ７ ＝ １００．００ ２５０．００ ０．００ ０．００
Ｐ８ ＝
Ｐ９ ＝ １２２．６２ ２４．５４ ０．００ ０．００
ＣＯＭＮＴ： ［ ］
［ＰＯＳ］ １０．００ １００．００ ０．００ ０．００
ＥＤＩＴ ＴＥＡＣＨ ＪＵＭＰ ＶＥＬ＋ ＶＥＬー
Current position of main group
Subject group display
MG (Main group is selected)
Point data teaching screen (two-robot setting: Main group selected)
2. Operations and data when using the two-robot setting